329 lines
13 KiB
C#
329 lines
13 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Dynamic;
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using System.Linq;
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using System.Linq.Expressions;
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using System.Text;
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using System.Threading.Tasks;
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using JNPF;
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using JNPF.DependencyInjection;
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using Microsoft.AspNetCore.Mvc;
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using Microsoft.Extensions.Configuration;
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using Microsoft.Extensions.Hosting;
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using MimeKit.Cryptography;
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using Newtonsoft.Json.Linq;
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using Tnb.Common.Extension;
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using Tnb.Common.Utils;
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using Tnb.WarehouseMgr.Entities.Configs;
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namespace Tnb.WarehouseMgr
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{
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/// <summary>
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/// 电梯控制业务服务类
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/// </summary>
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public class ElevatorControlService : BaseWareHouseService
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{
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private readonly ElevatorControlConfiguration _elevatorCtlCfg = new();
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private readonly BackgroundService _agvHeartbeatMonitor;
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private static Dictionary<string, Func<BackgroundService, bool>> _fetchStartedStausValue = new();
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private bool isFrontDoorBit = false; //是否到前门位
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public ElevatorControlService(BackgroundService agvHeartbeatMonitorService)
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{
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_elevatorCtlCfg = App.Configuration.Build<ElevatorControlConfiguration>();
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_agvHeartbeatMonitor = agvHeartbeatMonitorService;
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}
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/// <summary>
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/// 一楼电梯操作流程
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/// </summary>
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/// <returns></returns>
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[HttpPost]
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public async Task<dynamic> FirstFloorElevatorFlow(string value)
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{
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CancellationTokenSource cts = new CancellationTokenSource();//扩展用
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//获取电梯状态
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(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
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do
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{
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multi = await GetElevatorStatus(CancellationToken.None);
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await Task.Delay(2000);
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} while (multi.sysStatus != 3 && multi.runStatus != 0);
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if (multi.sysStatus == 3 && multi.runStatus == 0 && multi.floorNo != 1)
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{
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//如果不是1楼,判断电梯状态，如果电梯是空闲的向电梯发送一个到一楼的指令
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var wirteRes = await SetAgvControlStatus(0);
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JObject jo = JObject.Parse(wirteRes);
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if (true) //此处为Agv到一楼开门位，通知操作目前默认为true
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{
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var propName = "IsStarted";
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if (!_fetchStartedStausValue.TryGetValue(propName, out var func))
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{
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var isStartedProp = _agvHeartbeatMonitor.GetType().GetProperty(propName);
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var paramExp = Expression.Parameter(typeof(BackgroundService), "_agvHeartbeatMonitor");
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var propExp = Expression.Property(Expression.ConvertChecked(paramExp, isStartedProp.DeclaringType), isStartedProp);
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var body = Expression.Lambda<System.Func<BackgroundService, Boolean>>(propExp, paramExp);
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func = body.Compile();
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_fetchStartedStausValue[propName] = func;
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}
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var isStarted = func(_agvHeartbeatMonitor);
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if (!isStarted)
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{
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_agvHeartbeatMonitor.StartAsync(cts.Token);
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}
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//向电梯发送前门开门指令
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await SendOpenCloseCmd(3);
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//获取门状态 是否为 开门到位保持
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var doorStatus = await GetTagAsync("DoorStatus");
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if (doorStatus == 3)
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{
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//通知Agv进入电梯，放货,默认为true
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if (true)
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{
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//向电梯发送关门指令
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await SendOpenCloseCmd(4);
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}
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}
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}
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}
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return Task.FromResult(0);
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}
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/// <summary>
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/// 三楼电梯操作流程
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/// </summary>
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/// <returns></returns>
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[HttpPost]
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public async Task<dynamic> ThreeFloorElevatorFlow()
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{
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//监听电梯门是否为关闭的状态
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var dataStatus = 0;
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do
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{
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dataStatus = await GetTagAsync("DoorStatus");
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} while (dataStatus != 4);
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if (dataStatus == 4)
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{
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//根据状态确认关闭后，向电梯发送指令从1~3楼 //FloorExecute 楼层触发
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await WriteTagAsync("FloorExecute", 48);
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//获取电梯到达3楼的到位信号
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(_, int runStatus, int floorNo) = (-1, -1, -1);
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do
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{
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var multi = await GetElevatorStatus(CancellationToken.None);
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runStatus = multi.sysStatus; floorNo = multi.floorNo;
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} while (runStatus != 0 && floorNo != 3);
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// 控制电梯到达指定楼层默认开门的行为，改为默认不开门 条件：Agv 到达3楼开门位时，为true
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if (true)//3楼Agv到达开门位后，向电梯发送开门指令, 默认true 当前
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{
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//向电梯发送前门开门指令
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await SendOpenCloseCmd(3);
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//获取门状态 是否为 开门到位保持
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var doorStatus = await GetTagAsync("DoorStatus");
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if (doorStatus == 3) //开门到位保持状态
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{
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//通知Agv进入电梯，取货
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//向电梯发送关门指令
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await SendOpenCloseCmd(4);
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doorStatus = await GetTagAsync("DoorStatus");
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if (doorStatus == 4) //门状态，为关门到位保持
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{
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//解锁，Agv状态，将其至为
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var agvStatus = await GetTagAsync("AGVStatus");
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if (agvStatus != 2)
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{
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await SetAgvControlStatus(0);
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}
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}
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}
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}
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}
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return Task.FromResult(0);
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}
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/// <summary>
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/// x2server测试
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/// </summary>
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/// <returns></returns>
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[HttpGet]
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public async Task<dynamic> X2ServerTest()
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{
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//var r = new Random();
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int currentValue = 0;
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while (true)
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{
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var readRes = await GetElevatorStatus(CancellationToken.None);
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await Console.Out.WriteLineAsync($"接收结果：{readRes}");
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currentValue = 1 - currentValue; // 切换为0或1
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dynamic obj = new ExpandoObject();
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obj.TagName = "AGVControl";
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obj.Value = currentValue;
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var parameter = await SetParameter(obj);
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var wirteRes = await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: parameter);
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await Console.Out.WriteLineAsync($"写入结果：{wirteRes}");
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await Task.Delay(1000);
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}
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}
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private Task<object> SetRequestParameter(string tagName, object value)
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{
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var tcs = new TaskCompletionSource<object>();
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dynamic reqParam = new ExpandoObject();
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reqParam.DevName = _elevatorCtlCfg.DevName;
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reqParam.TagName = tagName;
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reqParam.value = value;
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reqParam.token = _elevatorCtlCfg.token;
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tcs.SetResult(reqParam);
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return tcs.Task;
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}
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private Task<Dictionary<string, string>> SetParameter(dynamic obj)
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{
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var parameters = new Dictionary<string, string>()
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{
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["DevName"] = _elevatorCtlCfg.DevName,
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["token"] = _elevatorCtlCfg.token,
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};
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var dynamicDic = obj as IDictionary<string, object>;
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if (dynamicDic != null)
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{
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foreach (var (k, v) in dynamicDic)
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{
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parameters[k] = v?.ToString() ?? string.Empty;
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}
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}
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return Task.FromResult(parameters);
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}
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/// <summary>
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/// 向系统发送开关门指令
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/// </summary>
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/// <param name="value">开关门指令</param>
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/// <returns></returns>
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private async Task SendOpenCloseCmd(int value)
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{
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var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
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dicCommand["DevName"] = _elevatorCtlCfg.DevName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = "DoorExecute";
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dicCommand["Value"] = value.ToString();
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await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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}
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/// <summary>
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/// 设置Agv控制请求状态
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/// </summary>
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/// <param name="value"></param>
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/// <returns></returns>
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private async Task<dynamic> SetAgvControlStatus(int value)
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{
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var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
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dicCommand["DevName"] = _elevatorCtlCfg.DevName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = "AGVControl";
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dicCommand["Value"] = value.ToString();
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return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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}
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/// <summary>
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/// 向指定的标签属性写入值
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/// </summary>
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/// <param name="tagName"></param>
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/// <param name="value"></param>
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/// <returns></returns>
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private async Task<dynamic> WriteTagAsync(string tagName, int value)
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{
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var dicCommand = new Dictionary<string, string>(StringComparer.OrdinalIgnoreCase);
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dicCommand["DevName"] = _elevatorCtlCfg.DevName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = tagName;
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dicCommand["Value"] = value.ToString();
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return await HttpClientHelper.GetAsync(_elevatorCtlCfg.WriteTagUrl, pars: dicCommand);
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}
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/// <summary>
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/// 根据标签名称获取标签值
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/// </summary>
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/// <param name="tagName"></param>
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/// <returns></returns>
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private async Task<int> GetTagAsync(string tagName)
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{
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var dicCommand = new Dictionary<string, string>();
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dicCommand["DevName"] = _elevatorCtlCfg.DevName;
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dicCommand["token"] = _elevatorCtlCfg.token;
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dicCommand["TagName"] = tagName;
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var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
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JObject jo = JObject.Parse(result);
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return jo.Value<int>("V");
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}
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/// <summary>
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/// 获取Agv状态 0：正常状态 1：等待进入 AGV 状态 2： AGV 运行状态
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/// </summary>
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/// <returns></returns>
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//private async Task<int> GetAgvStatus()
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//{
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// var dicCommand = new Dictionary<string, string>();
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// dicCommand["DevName"] = _elevatorCtlCfg.DevName;
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// dicCommand["token"] = _elevatorCtlCfg.token;
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// dicCommand["TagName"] = "AGVStatus";
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// var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: dicCommand);
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// JObject jo = JObject.Parse(result);
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// return jo.Value<int>("V");
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//}
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/// <summary>
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/// 获取门状态
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/// </summary>
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/// <returns></returns>
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//private async Task<int> GetDoorStatus()
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//{
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// var doorStatusParam = new Dictionary<string, string>();
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// doorStatusParam["DevName"] = _elevatorCtlCfg.DevName;
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// doorStatusParam["token"] = _elevatorCtlCfg.token;
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// doorStatusParam["TagName"] = "DoorStatus";
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// var result = await HttpClientHelper.GetAsync(_elevatorCtlCfg.GetTagUrl, pars: doorStatusParam);
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// JObject jo = JObject.Parse(result);
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// return jo.Value<int>("V");
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//}
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/// <summary>
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/// 获取电梯状态
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/// </summary>
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/// <param name="token"></param>
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/// <returns></returns>
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private async Task<(int sysStatus, int runStatus, int floorNo)> GetElevatorStatus(CancellationToken token)
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{
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(int sysStatus, int runStatus, int floorNo) multi = (-1, -1, -1);
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var pars = new Dictionary<string, string>();
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pars["DevName"] = _elevatorCtlCfg.DevName;
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pars["Pos"] = "1";
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pars["Count"] = "4";
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pars["token"] = _elevatorCtlCfg.token;
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var url = _elevatorCtlCfg.GetTagListUrl;
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var systemInfo = await HttpClientHelper.GetAsync(url, pars: pars);
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var jo = JObject.Parse(systemInfo);
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var objs = jo["Items"].Values<JObject>().ToList();
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if (objs?.Count == 4)
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{
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if (objs[0].Value<string>("Name").Equals("SysStatus")
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&& objs[1].Value<string>("Name").Equals("RunStatus")
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&& objs[3].Value<string>("Name").Equals("FloorNo"))
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{
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multi = ((objs[0].Value<int>("V")), objs[1].Value<int>("V"), objs[2].Value<int>("V"));
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}
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}
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return multi;
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}
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}
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}
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